Compensatory motion scaling for time-delayed robotic surgery

Surgical Endoscopy, 2021

Ryan K Orosco, Benjamin Lurie, Tokio Matsuzaki, Emily K Funk, Vasu Divi, F Christopher Holsinger, Steven Hong, Florian Richter, Nikhil Das, Michael Yip

Publisher Link: http://link.springer.com/article/10.1007/s00464-020-07681-7

Abstract: Round trip signal latency, or time delay, is an unavoidable constraint that currently stands as a major barrier to safe and efficient remote telesurgery. While there have been significant technological advancements aimed at reducing the time delay, studies evaluating methods of mitigating the negative effects of time delay are needed. Herein, we explored instrument motion scaling as a method to improve performance in time-delayed robotic surgery.This was a robotic surgery user study using the da Vinci Research Kit system. A ring transfer task was performed under normal circumstances (no added time delay), and with 250 ms, 500 ms, and 750 ms delay. Robotic instrument motion scaling was modulated across a range of values (− 0.15, − 0.1, 0, + 0.1, + 0.15), with negative values indicating less instrument displacement for a …

Orosco et al. (2021) Compensatory motion scaling for time-delayed robotic surgery, Surgical Endoscopy, vol. 35, pp. 2613-2618.